TR2023-067

Vision Guided Food Assembly by Robot Teaching from Target Composition


    •  Jain, S., Corcodel, R., Jha, D.K., Romeres, D., "Vision Guided Food Assembly by Robot Teaching from Target Composition", ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork, May 2023.
      BibTeX TR2023-067 PDF
      • @inproceedings{Jain2023may,
      • author = {Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego},
      • title = {Vision Guided Food Assembly by Robot Teaching from Target Composition},
      • booktitle = {ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork},
      • year = 2023,
      • month = may,
      • url = {https://www.merl.com/publications/TR2023-067}
      • }
  • MERL Contacts:
  • Research Areas:

    Computer Vision, Robotics

Abstract:

Automation in the food-serving industry has challenging requirements. The article deals with the application of vision-guided food assembly of lunch box containers by robot teaching from a demonstration of a given target composition for the container. Vision guidance is used for parsing the target composition, bin picking with instance segmentation, and computing pose information for similarity-based assembly for food serving with tracking of containers on a moving conveying system. A control system based on learning from demonstration technique is employed in the object frame for similar pose object dropoff of the grasped item for assembly. Integration of vision-guided robot control into high-speed automated food assembly can be highly productive. A pilot experiment scenario for automated food assembly demonstrates the functionality of the vision-guided food-serving system.